/*******************************************************************************
 (c) 2005-2014 Copyright, Real-Time Innovations, Inc.  All rights reserved.
 RTI grants Licensee a license to use, modify, compile, and create derivative
 works of the Software.  Licensee has the right to distribute object form only
 for use with RTI products.  The Software is provided "as is", with no warranty
 of any type, including any warranty for fitness for any purpose. RTI is under
 no obligation to maintain or support the Software.  RTI shall not be liable for
 any incidental or consequential damages arising out of the use or inability to
 use the software.
 ******************************************************************************/
/* coherent_publisher.c

   A publication of data of type coherent

   This file is derived from code automatically generated by the rtiddsgen
   command:

   rtiddsgen -language C -example <arch> coherent.idl

   Example publication of type coherent automatically generated by
   'rtiddsgen'. To test them follow these steps:

   (1) Compile this file and the example subscription.

   (2) Start the subscription with the command
       objs/<arch>/coherent_subscriber <domain_id> <sample_count>

   (3) Start the publication with the command
       objs/<arch>/coherent_publisher <domain_id> <sample_count>

   (4) [Optional] Specify the list of discovery initial peers and
       multicast receive addresses via an environment variable or a file
       (in the current working directory) called NDDS_DISCOVERY_PEERS.

   You can run any number of publishers and subscribers programs, and can
   add and remove them dynamically from the domain.


   Example:

       To run the example application on domain <domain_id>:

       On Unix:

       objs/<arch>/coherent_publisher <domain_id>
       objs/<arch>/coherent_subscriber <domain_id>

       On Windows:

       objs\<arch>\coherent_publisher <domain_id>
       objs\<arch>\coherent_subscriber <domain_id>


modification history
------------ -------
* Change presentation scope in publisher QoS
* Use reliable communication (currently required for coherency QoS)
* Surround coherent changes with calls to {begin, end}_coherent_changes
* All QoS are in the xml file
*/

#include "coherent.h"
#include "coherentSupport.h"
#include "ndds/ndds_c.h"
#include <stdio.h>
#include <stdlib.h>

/* Delete all entities */
static int publisher_shutdown(
        DDS_DomainParticipant *participant,
        struct DDS_PublisherQos *publisher_qos,
        struct DDS_DataWriterQos *datawriter_qos)
{
    DDS_ReturnCode_t retcode;
    int status = 0;

    if (participant != NULL) {
        retcode = DDS_DomainParticipant_delete_contained_entities(participant);
        if (retcode != DDS_RETCODE_OK) {
            printf("delete_contained_entities error %d\n", retcode);
            status = -1;
        }

        retcode = DDS_DomainParticipantFactory_delete_participant(
                DDS_TheParticipantFactory,
                participant);
        if (retcode != DDS_RETCODE_OK) {
            printf("delete_participant error %d\n", retcode);
            status = -1;
        }
    }

    retcode = DDS_PublisherQos_finalize(publisher_qos);
    if (retcode != DDS_RETCODE_OK) {
        printf("PublisherQos_finalize error %d\n", retcode);
        status = -1;
    }

    retcode = DDS_DataWriterQos_finalize(datawriter_qos);
    if (retcode != DDS_RETCODE_OK) {
        printf("DataWriterQos_finalize error %d\n", retcode);
        status = -1;
    }

    /* RTI Connext provides finalize_instance() method on
       domain participant factory for people who want to release memory used
       by the participant factory. Uncomment the following block of code for
       clean destruction of the singleton. */
    /*
        retcode = DDS_DomainParticipantFactory_finalize_instance();
        if (retcode != DDS_RETCODE_OK) {
            printf("finalize_instance error %d\n", retcode);
            status = -1;
        }
    */

    return status;
}

static int publisher_main(int domainId, int sample_count)
{
    DDS_DomainParticipant *participant = NULL;
    DDS_Publisher *publisher = NULL;
    DDS_Topic *topic = NULL;
    DDS_DataWriter *writer = NULL;
    coherentDataWriter *coherent_writer = NULL;
    coherent *instance = NULL;
    DDS_ReturnCode_t retcode;
    DDS_InstanceHandle_t instance_handle = DDS_HANDLE_NIL;
    const char *type_name = NULL;
    int count = 0;
    struct DDS_Duration_t send_period = { 1, 0 };
    struct DDS_PublisherQos publisher_qos = DDS_PublisherQos_INITIALIZER;
    struct DDS_DataWriterQos datawriter_qos = DDS_DataWriterQos_INITIALIZER;
    int mod = 0;

    /* To customize participant QoS, use
     the configuration file USER_QOS_PROFILES.xml */
    participant = DDS_DomainParticipantFactory_create_participant(
            DDS_TheParticipantFactory,
            domainId,
            &DDS_PARTICIPANT_QOS_DEFAULT,
            NULL /* listener */,
            DDS_STATUS_MASK_NONE);
    if (participant == NULL) {
        printf("create_participant error\n");
        publisher_shutdown(participant, &publisher_qos, &datawriter_qos);
        return -1;
    }

    /* To customize publisher QoS, use
     the configuration file USER_QOS_PROFILES.xml */
    publisher = DDS_DomainParticipant_create_publisher(
            participant,
            &DDS_PUBLISHER_QOS_DEFAULT,
            NULL /* listener */,
            DDS_STATUS_MASK_NONE);
    if (publisher == NULL) {
        printf("create_publisher error\n");
        publisher_shutdown(participant, &publisher_qos, &datawriter_qos);
        return -1;
    }

    /* If you want to change the DataWriter's QoS programmatically rather than
     * using the XML file, you will need to add the following lines to your
     * code and comment out the create_publisher call above.
     */

    /* Start changes for coherent_presentation */

    /* Get default publisher QoS to customize */
    /*    retcode = DDS_DomainParticipant_get_default_publisher_qos(participant,
                &publisher_qos);
        if (retcode != DDS_RETCODE_OK) {
            printf("get_default_publisher_qos error\n");
            return -1;
        }

    */    /* Topic access scope means that writes from a particular datawriter to 
     * multiple instances will be viewed coherently.
     */
    /*    publisher_qos.presentation.access_scope = DDS_TOPIC_PRESENTATION_QOS;
        publisher_qos.presentation.coherent_access = DDS_BOOLEAN_TRUE;

    */    /* To customize publisher QoS, use 
     the configuration file USER_QOS_PROFILES.xml */
    /*    publisher = DDS_DomainParticipant_create_publisher(participant,
                &publisher_qos, NULL, DDS_STATUS_MASK_NONE);
        if (publisher == NULL) {
            printf("create_publisher error\n");
            publisher_shutdown(participant, &publisher_qos, &datawriter_qos);
            return -1;
        }

    */    /* End changes for coherent_presentation */

    /* Register type before creating topic */
    type_name = coherentTypeSupport_get_type_name();
    retcode = coherentTypeSupport_register_type(participant, type_name);
    if (retcode != DDS_RETCODE_OK) {
        printf("register_type error %d\n", retcode);
        publisher_shutdown(participant, &publisher_qos, &datawriter_qos);
        return -1;
    }

    /* To customize topic QoS, use
     the configuration file USER_QOS_PROFILES.xml */
    topic = DDS_DomainParticipant_create_topic(
            participant,
            "Example coherent",
            type_name,
            &DDS_TOPIC_QOS_DEFAULT,
            NULL /* listener */,
            DDS_STATUS_MASK_NONE);
    if (topic == NULL) {
        printf("create_topic error\n");
        publisher_shutdown(participant, &publisher_qos, &datawriter_qos);
        return -1;
    }

    writer = DDS_Publisher_create_datawriter(
            publisher,
            topic,
            &DDS_DATAWRITER_QOS_DEFAULT,
            NULL /* listener */,
            DDS_STATUS_MASK_NONE);
    if (writer == NULL) {
        printf("create_datawriter error\n");
        publisher_shutdown(participant, &publisher_qos, &datawriter_qos);
        return -1;
    }

    /* If you want to change the DataWriter's QoS programmatically rather than
     * using the XML file, you will need to add the following lines to your
     * code and comment out the create_datawriter call above.
     */
    /* Start changes for coherent_presentation */

    /* Get default datawriter QoS to customize */
    /*    retcode = DDS_Publisher_get_default_datawriter_qos(publisher,
                &datawriter_qos);
        if (retcode != DDS_RETCODE_OK) {
            printf("get_default_datawriter_qos error\n");
            return -1;
        }

        datawriter_qos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
        datawriter_qos.history.kind = DDS_KEEP_ALL_HISTORY_QOS;
        datawriter_qos.protocol.rtps_reliable_writer.heartbeats_per_max_samples
       = 0;

    */    /* To customize data writer QoS, use
     the configuration file USER_QOS_PROFILES.xml */

    /*    writer = DDS_Publisher_create_datawriter(publisher, topic,
                &datawriter_qos, NULL, DDS_STATUS_MASK_NONE);
        if (writer == NULL) {
            printf("create_datawriter error\n");
            publisher_shutdown(participant, &publisher_qos, &datawriter_qos);
            return -1;
        }

    */    /* End changes for coherent_presentation */

    coherent_writer = coherentDataWriter_narrow(writer);
    if (coherent_writer == NULL) {
        printf("DataWriter narrow error\n");
        publisher_shutdown(participant, &publisher_qos, &datawriter_qos);
        return -1;
    }

    /* Create data sample for writing */

    instance = coherentTypeSupport_create_data_ex(DDS_BOOLEAN_TRUE);
    if (instance == NULL) {
        printf("coherentTypeSupport_create_data error\n");
        publisher_shutdown(participant, &publisher_qos, &datawriter_qos);
        return -1;
    }

    /* Start changes for coherent_presentation */

    /* For a data type that has a key, if the same instance is going to be
     written multiple times, initialize the key here
     and register the keyed instance prior to writing */

    instance->id = 0;
    instance_handle =
            coherentDataWriter_register_instance(coherent_writer, instance);

    DDS_Publisher_begin_coherent_changes(publisher);
    printf("Begin Coherent Changes\n");

    /* Main loop */
    for (count = 0; (sample_count == 0) || (count < sample_count); ++count) {
        NDDS_Utility_sleep(&send_period);

        mod = count % 7;
        if (mod == 6) {
            DDS_Publisher_begin_coherent_changes(publisher);
            printf("Begin Coherent Changes\n");
            continue;
        }

        /* Choose a random value for each field */
        instance->field = 'a' + mod;
        instance->value = (int) (rand() / (RAND_MAX / 10.0));

        printf("  Updating instance, %c->%d\n",
               instance->field,
               instance->value);

        /* Write data */
        retcode = coherentDataWriter_write(
                coherent_writer,
                instance,
                &instance_handle);
        if (retcode != DDS_RETCODE_OK) {
            printf("write error %d\n", retcode);
        }

        /* Begin a new change group after sending 6 samples */
        if (mod == 5) {
            DDS_Publisher_end_coherent_changes(publisher);
            printf("End Coherent Changes\n\n");
        }
    }

    retcode = coherentDataWriter_unregister_instance(
            coherent_writer,
            instance,
            &instance_handle);
    if (retcode != DDS_RETCODE_OK) {
        printf("unregister instance error %d\n", retcode);
    }

    /* Delete data sample */
    retcode = coherentTypeSupport_delete_data_ex(instance, DDS_BOOLEAN_TRUE);
    if (retcode != DDS_RETCODE_OK) {
        printf("coherentTypeSupport_delete_data error %d\n", retcode);
    }

    /* End changes for coherent_presentation */

    /* Cleanup and delete delete all entities */
    return publisher_shutdown(participant, &publisher_qos, &datawriter_qos);
}

#if defined(RTI_WINCE)
int wmain(int argc, wchar_t **argv)
{
    int domainId = 0;
    int sample_count = 0; /* infinite loop */

    if (argc >= 2) {
        domainId = _wtoi(argv[1]);
    }
    if (argc >= 3) {
        sample_count = _wtoi(argv[2]);
    }

    /* Uncomment this to turn on additional logging
    NDDS_Config_Logger_set_verbosity_by_category(
        NDDS_Config_Logger_get_instance(),
        NDDS_CONFIG_LOG_CATEGORY_API,
        NDDS_CONFIG_LOG_VERBOSITY_STATUS_ALL);
    */

    return publisher_main(domainId, sample_count);
}
#elif !(defined(RTI_VXWORKS) && !defined(__RTP__)) && !defined(RTI_PSOS)
int main(int argc, char *argv[])
{
    int domainId = 0;
    int sample_count = 0; /* infinite loop */

    if (argc >= 2) {
        domainId = atoi(argv[1]);
    }
    if (argc >= 3) {
        sample_count = atoi(argv[2]);
    }

    /* Uncomment this to turn on additional logging
    NDDS_Config_Logger_set_verbosity_by_category(
        NDDS_Config_Logger_get_instance(),
        NDDS_CONFIG_LOG_CATEGORY_API,
        NDDS_CONFIG_LOG_VERBOSITY_STATUS_ALL);
    */

    return publisher_main(domainId, sample_count);
}
#endif

#ifdef RTI_VX653
const unsigned char *__ctype = NULL;

void usrAppInit()
{
    #ifdef USER_APPL_INIT
    USER_APPL_INIT; /* for backwards compatibility */
    #endif

    /* add application specific code here */
    taskSpawn(
            "pub",
            RTI_OSAPI_THREAD_PRIORITY_NORMAL,
            0x8,
            0x150000,
            (FUNCPTR) publisher_main,
            0,
            0,
            0,
            0,
            0,
            0,
            0,
            0,
            0,
            0);
}
#endif
